JPS5866381A - Joy stick - Google Patents

Abstract

PURPOSE:To enhance detection accuracy and expand angle detection range by causing two pairs of magnetic sensors to provide outputs of sine wave signals with phase difference of 1/4 wavelength for a rotating field of permanent magnet and by executing linear signal processings through operations for each 1/4 wavelength. CONSTITUTION:At the one end of an operation lever 1, a non-magnetic ball 2 is fixed, and a cylindrical permanent magnet 3 which is magnetized in the axial direction is buried within the ball 2. The lever 1 and magnet 3 commonly have the same center line passing the center of ball 2, and the ball 2 is supported in precession free by the ball support 4. The magnetic sensors 10, 11 are buried in the ball support 4 and arranged at right angles each other. The sensors 10, 11 are configurated by an MR element and output the sine waves containing phase difference of 1/4 wavelength for the rotating field of magnet 3. Outputs V1, V2 and V3, V4 are given to the operation circuits 12, 13 and these are operated for each 1/4 wavelength and are linearized. Thereby, an output linearized for magnetic field angle can be obtained corresponding to rotating angle and inclination angle of the lever 1. Thus, detection accuracy can be improved and angle detection range can also be widened.

Description

[Detailed Description of the Invention] This invention relates to a non-contact joystick for the purpose of expanding the detection angle range and improving the ejection volume. A joystick that has the function of outputting and controlling la equipment can be used to control the cursor of a CR'l' display, a remote for an industrial robot: a yy troll, a control stick for a video game, etc.4! It has been applied to the field of r. This joystick is equipped with fixed transducers arranged in two direct directions, X and Y, to resolve the displacement angle component of the lever into the rotation angle of the shaft of the Jld transducer. There are ≦, but this tangent Mj & 1l
Due to the stiffness of the fi, it is not possible to operate smoothly, and there are also problems such as N-, which is caused by friction. The KO non-contact joystick is often used in the installation. An example of this contact joystick is explained using Figure 1 and Figure 2. 11) is the operation lever, 1! A non-rigid ball fixed to one end of the IVi operating lever il+ (31
The ball (a circular Ml-shaped permanent magnet with a 21-circle hole extending in the axial direction) and the permanent stone 111 share a center mt passing through the center point of the ball (2).

←) is a wheel holder that supports the ball (phantom) freely in precession, and nine magnetic sensors are embedded in (sl and (@1 is the ball holder ←). It is a loss resistance element whose value changes (hereinafter referred to as MR Minako). Each of these M
(For example, as shown in Fig. 3, @l is a structure in which two strong gold stripes (8a) (lilI) orthogonal to each other are deposited on an insulating substrate (7). in,
jiil at both ends of this stripe (8m) (81s)
child (9m) (9b) K ” 47 A 'Ig pressure' 0
m, t, intermediate.

If the output voltage V is calculated from the terminal (9), V=kYo#iL
2# is threatened. However, k is a constant specific to the material, and 0 is the angle of the external hN-n seen from the direction A forming the stripe (8b) and 41JO.

One MR element (F) is placed near the ball (21), facing the center point of the ball (21), and facing each other in two orthogonal directions, the X direction and the X direction. Operate with the output of one MR Honko m 14!1 A-111
The inclination direction and size of the fist are decomposed into X-Y angle components, i.e., KX%"%z@t as shown in Figure V.
- Thoughts, XZ plane and YZsfmK each MR element! 111@
1 with its magnetically sensitive surface parallel to the direction of the operating lever 41), and the wax #M of permanent magnet 1+11 is aligned with the direction of the operating lever 41).
It is assumed that the blade is located at an angle of 0 rotation from the axis, and the sulfur blade is located at an angle ψ inclined from the z-axis. At this time, tMr
The projection angle of B to the plate element 11111) is #8, θy is 0x■.
It is expressed as n (tanψ・−1no)・Therefore,
The output vxs Vy of each MR element 111461 is vXsm k To @ in J IIg ”
” ” l1lV, +mkVoslnkoθy
@ @ @ 1!1. This formula (1) and ct1
Assuming that ψ is sufficiently small, the formula is V *JkVotanpecosee 11 @i11
vss kV, tlLn9116 ginθ @ @ @
(4) can be approximated. Therefore, from this formula m and formula (4), the rotation angle θ and the tilt angle ``p'' of the control lever are calculated by the following formula.

By the way, as can be seen from Equations 11) and (R), each MR element (6) (ship's output V, Vy is a sine wave output, so
Both e and ψ are non-linear, and the disadvantage is that the range of high-precision detection degrees is narrow. Equation III, C4, and +61 are approximate equations that hold true only when 9' is sufficiently small. For example, if ψ becomes 1, the difference becomes large. For example,
Figure 5 shows the vA difference, J, -91°-ψ, -θ- .-maximum of e-
k"" l-biIll! II Change wo9' and check the results. As is clear from the figure, the operation lever (1
If the inclination angle of 1 is ψt/JO # inclines at once, the maximum −xn &
Unlike the IO for both xa and ma, if we further increase ψ to ψ1, ! & It is in the direction of a rapidly increasing number of people.

In this way, the conventional joystick is limited to the economical range or narrow range due to the detection range, so it is difficult to apply it to the valley line field. Therefore, the present invention has been developed in view of these problems. As a friend, we present a non-contact type digital stick that can significantly expand the detection range without reducing the detection density.

The joystick according to the present invention has two magnets attached to the operating lever from a fixed permanent magnet on mutually orthogonal surfaces facing the cicada field, which are symmetrical with respect to the field direction. An electric sensor from which the output of the sine wave is extracted is arranged.

Then, the detection output of each sine wave of each of these -Qi sensors is summed and calculated for each 1/4 m long area, and the linearized yL is obtained.
It is characterized by processing with an electric circuit that can obtain a computational output.Therefore, the stop string wave detection output of each air layer sensor is linearized and sloped with nine computational outputs. It is possible to expand the output without reducing the degree of yoke.・Hereinafter referred to as the present invention? The embodiment will be described in detail with reference to FIG. , the following U elements - 〇tortoise) and arithmetic circuit oz
n, i.e. - MR Dakako IA1) (lli is placed in the same position as the conventional MR Dakako fil 161 mentioned above, and its composition is like a ward. Now, seven X To elaborate on the iMR-child placed in the direction:
As shown in the figure, V strong gold stripes (15&X1511X15g
16(L) is formed, the two contacting stripes (16&) (16m) are continuous and orthogonal to each other, and the output tin φC at the midpoint outputs the output tin λ. Also,
The remaining stripes (15(t) (XSa) are also continuous and orthogonal to each other, and the output v2 is output from the detection terminal φD at the intermediate point.
sh), (18o) and (15a) make an angle of WJo to each other, both ends of each pair are connected, and the current terminals ψ at both ends
A common bias voltage v0 is applied from the mu s 1"B. A plate with a three-terminal structure having such a structure (oo+#i) and NIL strokes (15m) (15b) which are orthogonal to each other. Seiko Yuko and the above pattern are respectively y5
G-tilted, mutually orthogonal pattern of MR stripes (
la) (15a) Fuzo Mibata's MRj1g child 0
? 1 and ψ, respectively, and ψB as a common power supply terminal, and each MR element Ob! (171t;
j. Although not shown, each stripe (15a) (lab
), ('15G) (lJs4), respectively, are connected to two fixed and connected bridges, the difference kJJ is amplified, and the respective detection voltages V↓, vg are output. When the angle H is applied to the i subdirection P by an angle θ, an output v1%v2 shown in the following equation is output.

VlmkV, oo-ko0工v, = *v0sin-sz TS casings vl and va#: are sine wave outputs whose phases differ by 1/4 wavelength, and when this is graphed, the solid line graph in Figure 2 is obtained. By the way, the sine force output V, %Va, which differs in 1/4 length in this way, consists of a convex part and a concave part B, which gradually increase or disappear, respectively, when looking at each /4 $ and each long region. ing. Therefore, and n et al.'s uneven parts, B and K
By adding ii+[ in the direction where mi; [k
Since the nine outputs converted into g have the same slope in each wavelength filling range, by applying an appropriate bias, a linearized calculation output can be provided over the entire wavelength range. Therefore, both outputs V and Vji are set to 1/4 m on the arithmetic circuit side.
Perform the calculation of the following equation (7) on the length g & v 1111−v +v , jv CO≦θ≦
asO) 1 engineering 12 0% In other words, the output "XL" for every 74 wavelengths of the output V of the arithmetic circuit QW
, vxa, vxis, vX4X4 arithmetic operator term (-V, +
Ma5) 1(-v,〒v,),(v,-v,),(V1+
VB) #1ui-formation, and -370, vo,
+V, % +j By selectively adding and subtracting VQ, from K,
The output vX is linearized with respect to the input θ as shown in FIG.

Such calculations can be easily performed using an electric circuit as shown in FIG.
Sh~□□□ is a multiplexer, 2r+ is an adder circuit ・One multiplexer @ has +vl, +v2 and 2
One inverting circuit inputs inverted t-vg, and the other multipreter f Caa I/Cilt-vg is input.
o, +Jv0, and two inverting circuits -1v0 and -JV0, which are inverted by the illusion, are input. One specific soft circuit is V
, and Vλ are compared to see if they are positive or negative and output to the circuit. When both #-iv and vg are positive, the discrimination circuit is in the region of θ≦θ≦YJ0. Judging that, when V is negative and vg is positive, there is a limit of daJo≦e≦700, and when both Yo and vg are negative, there is a limit of θO≦θ≦/JJ ', v
When l is positive and vg is negative, 7130≦8≦ito.

Then, the discriminator circuit sends the determined kh kh to the multiplexer Juku (c). The multiplexer (2) then sends each input item: tVl,
±v,,±v0,±J vg t” i'll another 1j
m 11 & Z 'D f4 Separate (according to No. 11, only those that should be calculated are selected, added to the circuit, and sent to the sword. The addition circuit (product) calculates one of the equations ()) and outputs V-work is required. Since table calculations such as addition and subtraction are self-explanatory, they can be accomplished with a relatively simple and inexpensive circuit configuration.

In addition, the MR element (111) and its arithmetic circuit (131 are the same as the MR element and the arithmetic circuit (lz) arranged in the Y direction.
It has content, that is, MR Dakko Bit Fi two outputs V, mkV0oosJθy, v4. -hv, at
Nia, tm kashi, 'oss rotation- is this one mountain power v
5. From number 7, output vy from section 1-1.
If we let IIal-period tθ for IIIlltC, and heat tψ for sWC, and let θ, ey be the radial rotation of the magnetic field H to valley 1ta key child cry α5+, then θ, ml; IIQ (tanψe 0OJIθ ) 1 θ, mtan (tanP*sin θ) and then 0, so the output V of each output circuit O.

, Va is obtained by a direct relationship with VxamkV0#x (set V, -xVc, ayisi), and the rotation angle θ and the inclination angle ψ are calculated as follows.

The rotation angle e and 1l of the operating lever / placed on top in this way
JllH8 (Pt'i, GMRX child m1ni K) Phase or 1 for input of magnetic field angle of Mizuku at stone 11+
Detection output V of sine wave of IkAl11 characteristic with /4 wavelengths
l, V, but by performing the above calculation saturation, linearized calculation outputs proportional to the magnetic field angle can be obtained as shown in equations (8) and @(g).

As described above, according to the present invention, it is possible to obtain a calculation output that is linearized with respect to the rotation angle of the operation lever and the magnetic field angle corresponding to the angle of #A, thereby improving the degree of production and reducing the angle of rotation. The range of output will be greatly expanded.

While the conventional effective angle range was 150 degrees, in the case of the present invention, the angle range was increased to 0 degrees, proving its effectiveness.

However, the static structure of the present invention is not limited to the above embodiments; for example, the center of the ball can be placed in the center, and a magnetic sensor can be fixedly arranged in the middle.・Also, the magnetic sensor detects the phase I!l in the magnetic field space of the magnet.
Although they are placed on the JD direct side, they can also be placed on opposite sides.

[Brief explanation of the drawing]

Figures 7 and 2 are a side cross-sectional view of a conventional Ji-I-F stick, a front view of II- The operation principle diagram for explaining the detection raw salt of the operating lever rotation angle and inclination angle of the s'AJ diagram.
Fig. 6 and the lid 2- are a cross-sectional view of the mechanical part showing an embodiment of the present invention, and a cross-sectional view of the frame -■-. 1) - Hira Namibe showing an example -
Figures and diagrams are waveform diagrams of the output and calculation force of the MR element in Figure 1, and Figure 70 is a block diagram showing an example of the calculation circuit in Figure 2. 111 @ - operating lever, +2i @ @ ball,(
31.-Eternal rotation, (4)...Ball receiver, l1tl+
1lli 41 #Magnetic sensor (Mha Itoko), (12
i0m... Arithmetic circuit 1161 7th m 2

Claims (1)

[Claims] 11) A ball that is connected to the operating lever and has a built-in permanent magnet, a ball receiver that supports this ball in a precessional manner, and at least two sets of magnetic sensors that are built into the ball receiver and arranged orthogonally to each other. In the joystick, the inclination direction and magnitude of the operating lever are decomposed into diagonal components by the permanent lifting of stones and outputted by the set of magnetic sensors. The magnetic center tube outputs a sine wave output with a phase difference of 174 R in length with respect to the rotating magnetic field of a permanent magnet, and calculates these outputs for every 4 wavelengths in an arithmetic circuit and processes them using a linear equation. Joystick as a value